A variety of forms and foam components are provided, including foam components for articles of footwear and athletic equipment. The articles include a composition having a foam structure, wherein the composition includes a thermoplastic copolyester elastomer comprising: (a) a plurality of first segments, each first segment derived from a dihydroxy-terminated polydiol; (b) a plurality of second segments, each second segment derived from a diol; and (c) a plurality of third segments, each third segment derived from an aromatic dicarboxylic acid. Methods of making the compositions and foams are provided, as well as methods of making an article of footwear including at least one of the foam components. In some aspects, the foams and foam components can be made by extrusion or injection molding to foam the polymeric composition, or extrusion or injection molding to foam the polymeric composition followed by compression molding of the foam.